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<div class="header">
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<div class="title">face_detection_apps_utils.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * face_detection_apps_utils.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: 22 Sep 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: ari</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef FACE_DETECTION_APPS_UTILS_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define FACE_DETECTION_APPS_UTILS_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>face_detection_apps_utils</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> readMatrixFromFile(std::string file, Eigen::Matrix4f &amp; matrix)</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    std::ifstream in;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    in.open (file.c_str (), std::ifstream::in);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordflow">if</span> (!in.is_open ())</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    }</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">char</span> linebuf[1024];</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    in.getline (linebuf, 1024);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    std::string line (linebuf);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    std::vector &lt; std::string &gt; strs_2;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    boost::split (strs_2, line, boost::is_any_of (<span class="stringliteral">&quot; &quot;</span>));</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 16; i++)</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    {</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      matrix (i / 4, i % 4) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (atof (strs_2[i].c_str ()));</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> sortFiles(<span class="keyword">const</span> std::string &amp; file1, <span class="keyword">const</span> std::string &amp; file2)</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    std::vector &lt; std::string &gt; strs1;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    boost::split (strs1, file1, boost::is_any_of (<span class="stringliteral">&quot;/&quot;</span>));</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    std::vector &lt; std::string &gt; strs2;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    boost::split (strs2, file2, boost::is_any_of (<span class="stringliteral">&quot;/&quot;</span>));</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    std::string id_1 = strs1[strs1.size () - 1];</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    std::string id_2 = strs2[strs2.size () - 1];</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      std::vector &lt; std::string &gt; strs1;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      boost::split (strs1, id_1, boost::is_any_of (<span class="stringliteral">&quot;_&quot;</span>));</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      std::vector &lt; std::string &gt; strs2;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      boost::split (strs2, id_2, boost::is_any_of (<span class="stringliteral">&quot;_&quot;</span>));</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      std::string id_1 = strs1[strs1.size () - 1];</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      std::string id_2 = strs2[strs2.size () - 1];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordtype">size_t</span> pos1 = id_1.find (<span class="stringliteral">&quot;.pcd&quot;</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordtype">size_t</span> pos2 = id_2.find (<span class="stringliteral">&quot;.pcd&quot;</span>);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      id_1 = id_1.substr (0, pos1);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      id_2 = id_2.substr (0, pos2);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordflow">return</span> atoi (id_1.c_str ()) &lt; atoi (id_2.c_str ());</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">inline</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> getFilesInDirectory(bf::path &amp; dir, std::string &amp; rel_path_so_far, std::vector&lt;std::string&gt; &amp; relative_paths, std::string &amp; ext)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    bf::directory_iterator end_itr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">for</span> (bf::directory_iterator itr (dir); itr != end_itr; ++itr)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="comment">//check if its a directory, then get models in it</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">if</span> (bf::is_directory (*itr))</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        std::string so_far = rel_path_so_far + (itr-&gt;path().filename()).<span class="keywordtype">string</span>() + <span class="stringliteral">&quot;/&quot;</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        std::string so_far = rel_path_so_far + (itr-&gt;path ()).filename () + <span class="stringliteral">&quot;/&quot;</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        bf::path curr_path = itr-&gt;path ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        getFilesInDirectory (curr_path, so_far, relative_paths, ext);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">//check that it is a ply file and then add, otherwise ignore..</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        std::vector &lt; std::string &gt; strs;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        std::string file = (itr-&gt;path().filename()).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        std::string file = (itr-&gt;path ()).filename ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        boost::split (strs, file, boost::is_any_of (<span class="stringliteral">&quot;.&quot;</span>));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        std::string extension = strs[strs.size () - 1];</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordflow">if</span> (extension.compare (ext) == 0)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          std::string path = rel_path_so_far + (itr-&gt;path().filename()).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          std::string path = rel_path_so_far + (itr-&gt;path ()).filename ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          relative_paths.push_back (path);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">void</span> displayHeads(std::vector&lt;Eigen::VectorXf&gt; &amp; heads, <a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a> &amp; vis)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; heads.size (); i++)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      std::stringstream name;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      name &lt;&lt; <span class="stringliteral">&quot;sphere&quot;</span> &lt;&lt; i;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> center_point;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      center_point.x = heads[i][0];</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      center_point.y = heads[i][1];</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      center_point.z = heads[i][2];</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      vis.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">addSphere</a> (center_point, 0.02, 0, 255, 0, name.str ());</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> cylinder_coeff;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      cylinder_coeff.values.resize (7); <span class="comment">// We need 7 values</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      cylinder_coeff.values[0] = center_point.x;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      cylinder_coeff.values[1] = center_point.y;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      cylinder_coeff.values[2] = center_point.z;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      Eigen::Vector3f vec = Eigen::Vector3f::UnitZ () * -1.f;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      Eigen::Matrix3f matrixxx;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      matrixxx = Eigen::AngleAxisf (heads[i][3], Eigen::Vector3f::UnitX ()) * Eigen::AngleAxisf (heads[i][4], Eigen::Vector3f::UnitY ())</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          * Eigen::AngleAxisf (heads[i][5], Eigen::Vector3f::UnitZ ());</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      vec = matrixxx * vec;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      cylinder_coeff.values[3] = vec[0];</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      cylinder_coeff.values[4] = vec[1];</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      cylinder_coeff.values[5] = vec[2];</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      cylinder_coeff.values[6] = 0.01f;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      name &lt;&lt; <span class="stringliteral">&quot;cylinder&quot;</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      vis.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aef6238199505d3b522f099e84a5444de">addCylinder</a> (cylinder_coeff, name.str ());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* FACE_DETECTION_APPS_UTILS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a></div><div class="ttdoc">PCL Visualizer main class.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a19fb5e883c70c32e1486e924469217f3"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">pcl::visualization::PCLVisualizer::addSphere</a></div><div class="ttdeci">bool addSphere(const PointT &amp;center, double radius, const std::string &amp;id=&quot;sphere&quot;, int viewport=0)</div><div class="ttdoc">Add a sphere shape from a point and a radius</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:616</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aef6238199505d3b522f099e84a5444de"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aef6238199505d3b522f099e84a5444de">pcl::visualization::PCLVisualizer::addCylinder</a></div><div class="ttdeci">bool addCylinder(const pcl::ModelCoefficients &amp;coefficients, const std::string &amp;id=&quot;cylinder&quot;, int viewport=0)</div><div class="ttdoc">Add a cylinder from a set of given model coefficients</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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